Method for estimating lateral force of front wheels of distributed-type electrically-driven vehicle

A lateral force, electric drive technology, applied in the field of tire lateral force estimation of distributed drive electric vehicles, can solve problems such as tire model dependence

Active Publication Date: 2014-07-09
TSINGHUA UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] In order to solve the problem that the existing single-wheel tire lateral force estimation depends on the tire model, the present invention provides a method for estimating the front wheel lateral force of a distributed electric drive

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  • Method for estimating lateral force of front wheels of distributed-type electrically-driven vehicle
  • Method for estimating lateral force of front wheels of distributed-type electrically-driven vehicle
  • Method for estimating lateral force of front wheels of distributed-type electrically-driven vehicle

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Embodiment Construction

[0067] The present invention will be described in detail below with reference to the drawings and embodiments.

[0068] figure 1 Shown is the system diagram applied by the tire lateral force estimation method of the present invention. It includes a wheel motor controller 1 arranged on the vehicle controller 1, a wheel speed sensor 2 arranged at the wheel, and a wheel speed sensor 2 arranged at the wheel. The steering wheel angle sensor 3 on the vehicle steering column tube, a longitudinal acceleration sensor 4 arranged at the center of mass of the vehicle, a lateral acceleration sensor 5, a yaw rate sensor 6, a tire longitudinal force estimation module based on longitudinal dynamics 7 , A tire vertical force estimation module 8 based on vertical dynamics, a Kalman lateral force estimation module 9 and a fusion lateral force estimation module 10.

[0069] Based on the above system, the following uses specific embodiments to explain the real-time estimation method of the tire latera...

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Abstract

The invention discloses a method for estimating lateral force of front wheels of a distributed-type electrically-driven vehicle. The method is suitable for realtime monitoring of tire lateral force when the vehicle travels and used for safety evaluation. The method includes collecting state signals of the vehicle, and utilizing a vehicle dynamics equation to estimate longitudinal force and vertical force of tires in real time; transmitting estimated longitudinal force of each wheel, longitudinal acceleration signals, lateral acceleration signals, yawing velocity signals and steering wheel angle signals to a Kalman lateral force observer in a vehicle controller, and acquiring Kalman lateral force estimation values and rear axle lateral force estimation values of the front wheels; further processing the estimated lateral force by utilizing the vertical force of each wheel and front wheel steering angle difference to acquire final lateral force estimation values. The method has the advantages that only a linear Kalman filter is adopted, so that calculating instantaneity is guaranteed; acquiring of information of the tires and roads is not needed, so that the method is enabled to have robustness on different roads and tires, and estimated lateral force results can be used for tire characteristic analysis and road condition recognition.

Description

Technical field [0001] The present invention relates to a method for estimating lateral force of tires during vehicle driving, in particular to a method for estimating lateral force of tires of a distributed drive electric vehicle, which is used to test the lateral force of two front steering wheels and a rear axle . Background technique [0002] Distributed electric drive vehicles install the drive motors in or near each wheel. One motor independently drives one wheel. It has the advantages of fast response, short transmission chain, efficient transmission, and compact structure. It makes full use of the motor The characteristics of precise observation and fast controllability of torque are an important development direction in the field of electric vehicles. [0003] The current lateral stability control of distributed electric drive vehicles still has many problems that need to be improved, such as the inability to accurately estimate the tire lateral force under non-linear cha...

Claims

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Application Information

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IPC IPC(8): B60W40/10
CPCB60W40/10B60W2510/20B60W2520/105B60W2520/125B60W2520/14
Inventor 李克强陈龙边明远罗禹贡曹坤张书玮连小珉郑四发杨殿阁王建强
Owner TSINGHUA UNIV
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